| Our country that vegetables'planting have a long history is the world's largest producer of vegetables, and the volume of vegetable seedlings is particularly large. The amount of transplanting vegetable seedlings which 2/3 are used in transplanting is more than 4.0×1011. The classical transplanting system has workers on the both sides of conveyor, where the duty of the workers is seeding in the seeding plates. In addition, workers will be required to carry plates to conveyor and manage the seeding plates which have been transplanted. Although the amount of demanding is large, there are many problems needed to solve in our classical transplanting seeding, such as labor-intensive, low labor productivity, slow transplanting, bad economic, low degree of automation. From"Natural style"to"Facility type"is the development trend of modern high-efficiency agriculture because of the continuous development of socio-economic, science and technology as well as labor costs rise. The most important thing we need to solve in scaling expansion of greenhouse cultivation and improving production efficiency is how to use modern technology to achieve automation of transplanting homework. So the researching of robots which are adapted to the current agricultural production and can finish the transplanting seedlings automatically is imminent.Research on this paper is in order to achieve the purpose of removing unhealthy seedlings from seeding plates and transplanting seedlings automatically. What I have done is to provide high-quality seedlings for grafting or planting in the next production process, and produce a positive role in really efficient factory automation plants.The main research work has the following aspects:(1) Research on the overall in robots'features of mechanical design and selection of the relevant components. By analyzing the operating environment requirements, load capacity and comparing advantages and disadvantages of the mechanical structure, transmission mode, driving method, we adopt Cartesian coordinate system of the mechanical structure, Ball Screw Drive, Electric drive. In the control system, we adopt open-loop control mode by stepper motor-driven, PC(As a master computer)and DAQ-Card, PCI-6036E, to drive stepper motors and control other equipment.(2) Expounding the characteristics of robots'mechanical design. Introducing the selection of common and important components of the drive transmissions and choosing a reasonable drive transmission program. By using the modern mechanical design methods, I have achieved the following job. Firstly, design part drawing and assembly drawing, checking the key parts. Secondly, carry out detailed calculations and notes and finish the design of the whole manipulator. Lastly, finish the welding and assembly of frame and motor block and so on parts.(3) Implementing control of the stepper motor by use of data acquisition card and LabVIEW, finish the control system including motor control procedures, manipulator reset procedures and so on. In hardware, we use built-drive optocoupler devices which can isolate the input signal, ensure communicate between control system and device are normal without interference. In software, it not only satisfies requirements of manipulator's motion but also provides a friendly user interface, can be used easily by workers.(4) Connecting the electrical components in accordance with the circuit diagram. Debugging and trying the transplanting robot device by uniting control hardware, control software, mechanical devices. Then we can measure the positional error and position repetitive error of the manipulator. In the end, we know that the manipulator meets the performance requirements.The remove non-health seedling system transplanting robot which I have researched on this paper can make the transplanting robot manipulate the complicated homework in greenhouse environment with the help of coordinate that Health Miller Identification System has provided. The studies on control strategy and experiment can provide experience and key technologies for practical Transplanting Manipulator System in facilities farming. The popularization and application of this system can play an important part in industrialization of agricultural production in the future and create enormous economic and social benefits.
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